/*
*  Player - One Hell of a Robot Server
*  Copyright (C) 2000  Brian Gerkey et al.
*
*  This library is free software; you can redistribute it and/or
*  modify it under the terms of the GNU Lesser General Public
*  License as published by the Free Software Foundation; either
*  version 2.1 of the License, or (at your option) any later version.
*
*  This library is distributed in the hope that it will be useful,
*  but WITHOUT ANY WARRANTY; without even the implied warranty of
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
*  Lesser General Public License for more details.
*
*  You should have received a copy of the GNU Lesser General Public
*  License along with this library; if not, write to the Free Software
*  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
///////////////////////////////////////////////////////////////////////////
//
// Desc: Adaptive Monte-Carlo localization
// Author: Andrew Howard
// Date: 6 Feb 2003
// CVS: $Id: amcl_sensor.h 6443 2008-05-15 19:46:11Z gerkey $
//
///////////////////////////////////////////////////////////////////////////

#ifndef AMCL_SENSOR_H
#define AMCL_SENSOR_H

#include "../pf/pf.h"

namespace amcl
{

// Forward declarations
class AMCLSensorData;


// Base class for all AMCL sensors
class AMCLSensor
{
    // Default constructor
public:
    AMCLSensor();

    // Default destructor
    virtual ~AMCLSensor();

    // Update the filter based on the action model.  Returns true if the filter
    // has been updated.
    virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);

    // Initialize the filter based on the sensor model.  Returns true if the
    // filter has been initialized.
    virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);

    // Update the filter based on the sensor model.  Returns true if the
    // filter has been updated.
    virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);

    // Flag is true if this is the action sensor
    bool is_action;

    // Action pose (action sensors only)
    pf_vector_t pose;

    // AMCL Base
    //protected: AdaptiveMCL & AMCL;

#ifdef INCLUDE_RTKGUI
    // Setup the GUI
    public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);

    // Finalize the GUI
    public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);

    // Draw sensor data
    public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data);
#endif
};


// Base class for all AMCL sensor measurements
class AMCLSensorData
{
    // Pointer to sensor that generated the data
public:
    AMCLSensor *sensor;

    virtual ~AMCLSensorData() {}

    // Data timestamp
    double time;
};

}

#endif
